This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where the agents are expected to attain the desired formation while reaching the target region and simultaneously ensuring collision and obstacle avoidance. To tackle this control problem, we break it down into two distinct objectives: safety and region formation control, to provide a completely distributed algorithm. Region formation control is modeled as a high-level abstract objective, whereas safety and actuator saturation are modeled as a low-level objective designed independently, without any knowledge of the former, and being minimally invasive. Our approach incorporates connectivity preservation, actuator saturation, safety considerations, and lack of velocity measurement from other agents with second-order system dynamics which are important constraints in practical applications. Both internal safety for collision avoidance among agents and external safety for avoiding unsafe regions are ensured using exponential control barrier functions. We provide theoretical results for asymptotic convergence and numerical simulation to show the approach's effectiveness.

翻译：本文针对无速度测量的二阶多智能体系统，提出了一种结合参考速度跟踪的安全区域编队控制问题的解决方案。安全区域编队控制要求智能体在到达目标区域并实现期望编队的同时，确保碰撞规避与障碍物避让。为解决该控制问题，我们将其分解为安全性与区域编队控制两个独立目标，从而提出完全分布式的算法。区域编队控制被建模为高层抽象目标，而安全性及执行器饱和被建模为低层独立设计目标，该低层目标无需了解高层目标信息且具有最小侵入性。我们的方法在二阶系统动力学约束下，综合考虑了连通性保持、执行器饱和、安全约束以及缺乏其他智能体速度测量等实际应用中的重要限制条件。通过指数控制障碍函数，同时实现了智能体间碰撞规避的内部安全性及避让危险区域的外部安全性。我们给出了渐近收敛的理论结果，并通过数值仿真验证了方法的有效性。